Merge branch 'ros2' into aditya/odom_with_covariance

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Apr 22, 2022 · 8c3ceac · 8c3ceac
2 parents bb52954 + 3d3e440
commit 8c3ceac
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diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -13,7 +13,7 @@ apt install -qq -y lsb-release wget curl build-essential
 # Citadel, Edifice and Fortress get Ignition with rosdep for Focal
 
 # Dependencies.
-echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list
+echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
 apt-get install -y $IGN_DEPS \
@@ -22,7 +22,7 @@ apt-get install -y $IGN_DEPS \
 
 rosdep init
 rosdep update
-rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO
+rosdep install --from-paths ./ -i -y --rosdistro $ROS_DISTRO
 
 # Build.
 source /opt/ros/$ROS_DISTRO/setup.bash

diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -9,10 +9,7 @@ jobs:
     strategy:
       matrix:
         include:
-          - docker-image: "ubuntu:20.04"
-            ignition-version: "edifice"
-            ros-distro: "rolling"
-          - docker-image: "ubuntu:20.04"
+          - docker-image: "ubuntu:22.04"
             ignition-version: "fortress"
             ros-distro: "rolling"
     container:

diff --git a/ros_ign_bridge/README.md b/ros_ign_bridge/README.md
@@ -79,7 +79,7 @@ Now we start the Ignition Transport talker.
 
 ```
 # Shell C:
-ign topic pub -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'
+ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'
 ```
 
 ## Example 1b: ROS 2 talker and Ignition Transport listener
@@ -113,7 +113,7 @@ In this example, we're going to generate Ignition Transport images using
 Ignition Gazebo, that will be converted into ROS images, and visualized with
 `rqt_image_viewer`.
 
-First we start Ignition Gazebo.
+First we start Ignition Gazebo (don't forget to hit play, or Ignition Gazebo won't generate any images).
 
 ```
 # Shell A:
@@ -175,7 +175,7 @@ On terminal B, we start a ROS 2 listener:
 
 And terminal C, publish an Ignition message:
 
-`ign topic pub -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'`
+`ign topic -t /chatter -m ignition.msgs.StringMsg -p 'data:"Hello"'`
 
 At this point, you should see the ROS 2 listener echoing the message.
 

diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ignition-math6 REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
 
 # Edifice
 if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
@@ -42,6 +43,7 @@ add_executable(create src/create.cpp)
 ament_target_dependencies(create
   rclcpp
   ignition-math6
+  std_msgs
 )
 target_link_libraries(create
   gflags

diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml
@@ -16,6 +16,7 @@
   <depend>libgflags-dev</depend>
   <depend>rclcpp</depend>
   <depend>ignition-math6</depend>
+  <depend>std_msgs</depend>
 
   <!-- Fortress (default) -->
   <depend condition="$IGNITION_VERSION == fortress">ignition-gazebo6</depend>